Journal Publications

Barjuei, E. S., Courteille, E., Rangeard, D., Marie, F., & Perrot, A. (2022). Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications. Advances in Industrial and Manufacturing Engineering, 100094.

Johra, M., Courteille, E., Deblaise, D., & Guégan, S. (2022). Elasto-Geometrical Model-Based Control of Industrial Manipulators Using Force Feedback: Application to Incremental Sheet Forming. Robotics, 11(2), 48.

Apamon, C., Marie, F., Miroir, M., Le Breton, R., & Courteille, E. (2022). Screening of factors influencing catheter rotation of a vascular interventional surgical robot using design of experiment approach. Medical Engineering & Physics, 103764.

Courteille, E., & Mortier, F. (2020). Idle shake vibration optimization of an engine mounting system through the practical application of transfer path analysis. Noise Control Engineering Journal, 68(6), pp. 459-469(11).

Baklouti, S., Courteille, E., Lemoine, P., & Caro, S. (2020). Input-Shaping for Feed-Forward Control of Cable-Driven Parallel Robots. Journal of Dynamic Systems, Measurement, and Control, 143(2), 021007-1.

Perrot, A., Jacquet, Y., Rangeard, D., Courteille, E., & Sonebi, M. (2020). Nailing of Layers: A Promising Way to Reinforce Concrete 3D Printing Structures. Materials, 13(7), 1518.

Sana Baklouti, Eric Courteille, Philippe Lemoine, Stéphane Caro (2019). Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control. Mechanism and Machine Theory, Elsevier, 2019, 139, pp.329-345.

Mazhoud, B., Perrot, A., Picandet, V., Rangeard, D., & Courteille, E. (2019). Underwater 3D printing of cement-based mortar. Construction and Building Materials, 214, 458-467.

Perrot, A., Rangeard, D., & Courteille, E. (2018). 3D printing of earth-based materials: Processing aspects. Construction and Building Materials, 172, 670-676.

Baklouti, S., Courteille, E., Caro, S. & Dkhil, M. (2017), D. Dynamic and Oscillatory Motions of Cable-Driven Parallel Robots based on a Non-Linear Cable Tension Model. Journal of Mechanisms and Robotics9(6), 061014.

Yuan, H., Courteille, E., Gouttefarde, M. and Hervé, P.E. (2017). Vibration analysis of cable-driven parallel robots based on the dynamic stiffness matrix method. Journal of Sound and Vibration, 394, 527-544.

Yuan, H., Courteille, E., & Deblaise (2016), D. Force Distribution with Pose-dependent Force Boundaries for Redundant Actuated Cable-Driven Parallel Robots. Journal of Mechanisms and Robotics, 8(4), 041004.

Yuan, H., Courteille, E., & Deblaise, D. (2014). Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity. Mechanism and Machine Theory, 85, 64-81.

Belchior, J., Leotoing, L., Guines, D., Courteille, E., & Maurine, P. (2014). A Process/Machine coupling approach: Application to Robotized Incremental Sheet Forming. Journal of Materials Processing Technology, 214(8), 1605-1616.

Marie, S., & Courteille, E. (2013). Sail-assisted motor vessels weather routing using a fuzzy logic model. Journal of Marine Science and Technology, 1-15.

Marie, S., Courteille, E., & Maurine, P. (2013). Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications. Mechanism and Machine Theory, 69, 13-43.

Belchior, J., Guillo, M., Courteille, E., Maurine, P., Leotoing, L., & Guines, D. (2013). Off-line compensation of the tool path deviations on robotic machining: Application to incremental sheet forming. Robotics and Computer-Integrated Manufacturing, 29(4), 58-69.

Rognant, M., Courteille, E., & Maurine, P. (2010). A systematic procedure for the elastodynamic modeling and identification of robot manipulators. Robotics, IEEE Transactions on, 26(6), 1085-1093.

Courteille, E., Léotoing, L., Mortier, F., & Ragneau, E. (2005). New analytical method to evaluate the powerplant and chassis coupling in the improvement vehicle NVH. European Journal of Mechanics-A/Solids, 24(6), 929-943.


Damien Rangeard, Arnaud Perrot, Eric Courteille. Impression 3D de terre crue. DiXite3dPrint : Fabrication Additive pour la Construction. Quelle Actualité Nationale ?, École des Ponts ParisTech, Jan 2019, Champs-sur-Marne, France.

Arnaud Perrot, Damien Rangeard, Eric Courteille. Déformation élastique de couche de mortier en porte-à-faux. DiXite3dPrint : Fabrication Additive pour la Construction. Quelle Actualité Nationale ?, École des Ponts ParisTech, Jan 2019, Champs-sur-Marne, France.

Brahim Mazhoud, Arnaud Perrot, Vincent Picandet, Damien Rangeard, Eric Courteille. Impression 3D de mortier sous l’eau. DiXite3dPrint : Fabrication Additive pour la Construction. Quelle Actualité Nationale ?, École des Ponts ParisTech, Jan 2019, Champs-sur-Marne, France

Baklouti, S., Caro, S., & Courteille, E. (2019). Elasto-Dynamic Model-Based Control of Non-Redundant Cable-Driven Parallel Robots. In ROMANSY 22–Robot Design, Dynamics and Control (pp. 238-246). Springer, Cham.

Courteille, E., Mortier, F., (2018, May). Experimental Transfer Path Analysis in the Diagnosis of Engine Mounting System for Idle Shake Vibrations. In 23st International Scientific Conference MECHANIKA 2018. KAUNAS UNIV TECHNOLOGY PRESS.

Giraud-Moreau, L., Belchior, J., Lafon, P., Leotoing, L., Cherouat, A., Courteille, E., & Maurine, P., (2018, May). Springback effects during single point incremental forming: Optimization of the tool path. In AIP Conference Proceedings(Vol. 1960, No. 1, p. 160009). AIP Publishing.

Rognant, M., & Courteille, E. (2017, August). Improvement of Cable Tension Observability Through a New Cable Driving Unit Design. In Cable-Driven Parallel Robots (pp. 280-291). Springer, Cham. Proceedings of the third International Conference on Cable-Driven Parallel Robots, Quebec City, Canada.

Baklouti, S., Caro, S., & Courteille, E. (2017, August). Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots. In Cable-Driven Parallel Robots (pp. 37-49). Springer, Cham. Proceedings of the third International Conference on Cable-Driven Parallel Robots, Quebec City, Canada.

Solatges, T., Rognant, M., Rubrecht, S., Courteille, E., & Bidaud, P. (2017, August). Design process of high dynamics multi-link flexible robot manipulators. In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (pp. V05AT08A029-V05AT08A029). American Society of Mechanical Engineers.

Courteille, E., & Yuan, H. (2016, May). Importance of cable vibration in dynamics of cable-driven parallel robots. In 21st International Scientific Conference MECHANIKA 2016 (pp. 67-72). KAUNAS UNIV TECHNOLOGY PRESS.

Yuan, H., Courteille, E., & Deblaise, D. (2014, May). Elastodynamic Analysis of Cable-Driven Parallel Manipulators Considering Dynamic Stiffness of Sagging Cables. In Robotics and Automation, 2014. ICRA 2014. Proceedings 2014 IEEE International Conference on (pp. 4055-4060), IEEE.

Courteille, E., Deblaise, D., & Maurine, P. (2009, October). Design optimization of a Delta-like parallel robot through global stiffness performance evaluation. In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on (pp. 5159-5166). IEEE.

Marie, S., & Courteille, E. (2009, September). Fuel consumption minimization procedure of sail-assisted motor vessel based on a systematic meshing of the explored area. In International Symposium on Ship Design & Construction-Environmentally Friendly Ships.

Marie, S., & Courteille, E. (2009, June). Multi-objective optimization of motor vessel route. In Proceedings of the Int. Symp. TransNav (Vol. 9, pp. 411-418).

Briot, S., Guegan, S., Courteille, E., & Arakelian, V. (2007, September). PAMINSA: New Classes of Decoupled Parallel Manipulators For High-Load Carrying. In Proceedings of the 2007 ASME International Design Engineering Technical Conferences (DETC 2007).

Courteille, E., Mortier, F., Leotoing, L., & Ragneau, E. (2005, May). Multi-objective robust design optimization of an engine mounting system. SAE Technical Paper.

Courteille, E., Leotoing, L., Mortier, F., & Ragneau, E. (2004, September). Analytical study of coupling between subsystems of a vehicule NVH model. In Proceedings of International Conference on Noise and Vibration Engineering (pp. 3375-3386).


Courteille E., Le Breton R., Guines D., Marie F., Johra M. Vibratory Incremental Sheet Forming Toool, Publication number WO2023247649 date 2023-12-28

Apamon C., Miroir M., Le Breton R., Courteille E., Fournier B., Robot for Driving an Elongate Flexible Medical Instrument, Drinving Method Therefor, and Method for Designing such a Robot, Publication number WO2022219165 date 2022-10-20

Guillo M., Dubourg L., Courteille E., Maurine P., Method and device for adjusting an actuated mechanical system, Publication number : EP70222 20140923  date: 2015-03-26

Rognant M., Chalumeau D., Le Colleter Q., Régien L., Courteille E., Maurine P., Gripping device i.e. bidirectional type gripping device, for automated storage and retrieval machine to displace loads in storage furniture, has displacement units displacing coupling unit in translation in opposite longitudinal directions. Publication number :  FR2947536 Publication date:  2011-01-07

Régien L., Rognant M., Moussaut J., Maurine P., Courteille E., Automated Stracker Crane System. Publication number :  EP2239226 Publication date:  2010-10-13

Boussidi K., Bellanger S., Maurine P., Courteille E., Collet S. Aquatic safety device for e.g. swimming pool, has passive units  with plane structure e.g. grid, plate or thread, where thread is  movable between passive position and active position, and passive  position and two hyperactive positions, Publication number :  FR2925092 Publication date:  2009-06-19

Mortier F., Courteille E., Gueno E., ”Torque starting rocker bar for motor vehicle, has contact element producing dampening effect by alternate adherence and sliding of element with respect to body to displace slide and plate around amplitude threshold value of displacement”, CF GOMMA SPA (IT) Publication number : FR2889272 Publication date: 2007-02-02

Courteille E., Gueno E., Mortier F., Petrequin M., ”Elastic joint for connecting rod, fitted with a contact slipper, and connecting rod containing such a joint”, CF GOMMA B BARRE THOMAS SA (FR) Publication number: EP1837533 Publication date: 2007-09-26


Marie S., Courteille E., ”Logiciel de routage des bateaux à propulsion hybride (bateaux à moteur, à voiles, à voiles et moteur)”. Date : 2010-07-26. Logiciel Œuvre de l’INSA de Rennes.

Courteille E., Mortier F., Logiciel de Conception et d’Optimisation des  Systèmes de suspension MOteur (COSMO). Date : 2006-02-05. Logiciel Œuvre de la Société C.F. GOMMA S.A.